Yes, I was thinking that everything would be designed for whatever the standard robot is. I don't actually expect humans to be involved in asteroid mining. Too dangerous. Too expensive to provide life support.
Your point about 4 arms is good. It is "quite imaginable-able" that the feet would have articulate fingers/toes. Unfortunately, you thought of it and I thought of it, but NASA didn't. Given their woeful lack of imagination, it would have been better if NASA had just given a bunch of money to MIT and asked them to build AND program a robot for zero/low gravity environments.